D1Servo Drive - HIWIN HIWIN в России · There are commissioning interfaces for speed and...
Transcript of D1Servo Drive - HIWIN HIWIN в России · There are commissioning interfaces for speed and...
D1Servo Drive
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TAIWAN EXCELLENCE GOLD AWARD '12 '11 '09 '08 '05
TAIWAN EXCELLENCE SILVER AWARD 2006, 2001, 1993
BallscrewsGround/Rolled• High Speed
(High Dm-N Value/Super S Series)• Heavy Load (Cool type II)• Self-Lubricanting (E2)• Rotating Nut (R1)
TAIWAN EXCELLENCE 2002
Linear Actuator• LAN for Hospital• LAM for Industrial• LAS Compact Size• LAK Controller
TAIWAN EXCELLENCE GOLD AWARD 2004
Linear Synchronous Motor• Coreless Type (LMC)
• Iron-core Type (LMS)
AC Servo Motor
AC Servo Motor Drives
TAIWAN EXCELLENCE GOLD AWARD 2010, 2003
Industrial Robot• For Semiconductor & Electronic
(KK Robot)• For Automation (KS, KA Robot)
TAIWAN EXCELLENCE SILVER AWARD 2009
Linear Motor Air Bearing Platform
TAIWAN EXCELLENCE GOLD AWARD 2008
TAIWAN EXCELLENCE SILVER AWARD 2007, 2002
Linear GuidewayHG/EG/RG/MG Type• Self-Lubricating (E2)• Low Noise (Q1)• Air Jet (A1)
Positioning
Measurement System
TAIWAN EXCELLENCE SILVER AWARD 2006
TMS Torque Motor Rotary Table
Linear Motor X-Y Robot
TAIWAN EXCELLENCE 2004
Positioning GuidewayLinear Motor Gantry
High speed High precision Multifunctional integration Ecology first Humanistic technology
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Excellent PerformanceThe D1 drive attains high positioning performanceto compliment the motion control technology of thesemiconductor industry. The D1 drive achieves very goodfollowing characteristics and effectively shortens thepositioning time.
Simple Operation Human-machine interface provides very simple settings. Allstandard types of motors and encoders are built inside. Setup can be completed with just one-click.
Complete Tool SetsThere are commissioning interfaces for speed andacceleration protection settings, gain settings, and an I/O test. Plus the D1 drive has a complete filter, frequencyanalysis, Bode plot, Lissajous figures and other functionswhich provide a complete driver control program.
Easy IntegrationHIWIN provides positioning modules, motors,and the best servo drive solution from mega-fabs.According to customer’s requirements we can integrateall that are required for user’s easiness of application.
ServicesThrough HIWIN's complete global presence, we can provideimmediate technical services at any time.
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With help of semiconductor high-end
motion control algorithm and advanced
common gain concept, the high speed
response is achieved, therefore satisfying
all of the motion control needs.
The D1 drive offers many flexible features, such as an electronic gear function which helps the
user to adjust the resolution of the host controller’s command pulse. This solves compatibility
problems between the encoder’s resolution and the host controller. The D1 drive can also set the
resolution of the emulated encoder which is the output to the host controller. This also solves the
compatibility problems between the encoder’s and the host controller’s resolution.
Using advanced WizAlg controller design
tools, plus space vector current control
technology, servo performance has been
achieved to the highest level. To change
motor speed from -3000 to +3000 rpm, it
takes as low as 0.006 second.
Excellently high speed response
Electronic gear ratio and Encoder Emulator
High acceleration responses
Excellent Performance
Speed Response > 1200Hz
Speed Response > 1200Hz
Speed Response > 1200Hz
0.02 0.04 0.06
0.006 sec
0.08 0.1 0.120
6ms
0.02 0.04 0.06
0.006 sec
0.08 0.1 0.120
0.006sec
0.006sec
HostController
1 um
1 um
ElectronicGear
ElectronicEmulator
Interpolator
40 nm
D1 Driver
40 um
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Built-in accuracy improvement features
Accuracy : 51.7Bi-Dir Rep. : 1.2
45
40
35
30
25
20
15
10
5
0
0 500 1000 1500 2000
Target (mm)Renishaw Analysis - Linear
Erro
r (u
m)
Without compensation
Accuracy : 1.4Bi-Dir Rep. : 0.8
45
40
35
30
25
20
15
10
5
0
0 500 1000 1500 2000
Target (mm)Renishaw Analysis - Linear
Erro
r (u
m)
With compensation
Accuracy : 51.7Bi-Dir Rep. : 1.2
45
40
35
30
25
20
15
10
5
0
0 500 1000 1500 2000
Target (mm)Renishaw Analysis - Linear
Erro
r (u
m)
Without compensation
Accuracy : 1.4Bi-Dir Rep. : 0.8
45
40
35
30
25
20
15
10
5
0
0 500 1000 1500 2000
Target (mm)Renishaw Analysis - Linear
Erro
r (u
m)
With compensation
With suppressionWithout suppression
D1 drive includes features to improve total positioning accuracy of the mechanical system. The
table size can be up to 16000 points. It is implemented in all control modes to optimize system
behavior.
D1 drive can remove the vibration frequency that occurs during movement. It reduces vibrations
caused by system’s structure and improve the machine’s production efficiency.
Vibration Suppression Feature
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Easy operation
LCD display
Simple Operation
Parameters are categorized according to features, only necessary ones are shown at the right
time. No confusing parameter list.
Without PC and user’s interface, it is possible to
complete basic settings. The LCD display shows
the necessary error or warning information and
statuses. With push buttons on the panel, it is
possible to set gains and test run.
Simple setup
Auto phase center
Tuning completed
HIWIN Motors
AC servo
Linear
LMC
LMF
HIWIN Motors
AC servo
Linear
LMC
LMF
1 2 3
Three Steps
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Wide range of tools
Complete Tool Sets
Accuracy enhancement
Advanced gain scheduling feature
Optimization tools
Variety of I / O functions
Analysis Tools
To improve on the positioning accuracy of motion systems, the D1 amplifier is featured with an error compensation function. By taking the measurements from a laser interferometer, the positioning error table can be built inside the D1, so that high positioning accuracy is achieved.
After setting gains through optimization tools, there is only one value to adjust:the common gain. During motion, the D2 drive provides a gain scheduling function.You can adjust the gain according to different phases of motion, such as moving phase,settling phase, and in-position phase.
The D1 provides a powerful and easy to use tool for optimization. You can usethe frequency analysis tools to display the real response in the form of a graph.You can easily set the best gain value for the system based on the real response,even first time users can easily get started.
In response to a number of different functions, you are free to configure the I / O pin functionality and adapt different hardware interface needs.This satisfies diverse requirements for different motion controllers with regardsto their pin assignments and hardware interfaces.
To solve a resonance problem, the D1 drive offers a filter design toolfor improving the control performance, a Fast Fourier Transform (FFT) and othermathematical operation tools.. You can use the functions to calculate theresonant frequency of the system easily, and to make the filter design more accurate.
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The total solution
Easy Integration
LMC LMS LMT TMS/TMX
Linear Motor Stages
Mega-Fabs Drive
D1 Applications
• PCB Inspection Machine
• Wafer Inspection Machine
• Laser machining
• Industrial robots
• Precision machining equipment
• Large and small size flat panel inspection equipment
• Warehouse positioning system
• Industrial control applications
• Optical Inspection Machine
• Robot control
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Motor series drive Motor series drive Motor series drive Motor series drive
LMS47 LMS13~LMS27 TMS03~TMS07 TMX44
LMSC7 LMS37~LMS37L TMS12~TMS18 TMX48
LMCA2~LMCA6 LMS57 TMS32~TMS38 TMX63 MD-36-SR
LMCB2~LMCB8 LMS67 TMS3C D1-36-T TMX65
LMCBA LMSC7(WC)2 TMS74 TMX68
LMCC7~LMCC8 LMSC7L TMS76
LMCD4~LMCDA LMCF6 TMS7C
LMCE4~LMCEC LMCF8
LMCF4 LMF01L MD-36-S2
LMF01 LMF03
LMF02 MD-18-S2 LMF11L
LMF11 LMF13
LMF12 LMF14
LMF21 LMF21L
LMF22 LMF23
LMF31 LMF24
LMF41 LMF32
LMTA2~LMTA4 LMF42
LMTB2~LMTB4
LMTC2~LMTC4
LMTD2~LMTD4
Motor models and the corresponding drive models
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Wiring example
Display PanelTwo lines Dot Matrix Indicatesmessages and parameters
Connection to PCUse Rs-232 cable
Connection to host controller26 pin SCSI connector(Standard accessory)
Connection to EncoderEncoder cable (optional)
Status LEDReady/ Error quick guide
Circuit Breaker(MCCB)
Noise Filter
Magnetic Contactor (MC)
Regeneration(optional)
DC 24V for brake(applied by Customer)
Please download from -www.hiwinmikro.com.tw-
LighteningFor D1
FREE
Reactor(L)
(optional)
(optional)
DC24V
MOTOR power end
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• Digital amplifier• Field oriented control• Intuitive Lightening interface• 100-240VAC input power• Supports Step/Direction, CW/CCW and A/B phase pulse format• Supports +/- 10V voltage command• Supports analog and digital encoder
MotionController
DC24V
LM STAGE
Drive
PC
CN1
CN3 CN2 CN4
Main Power
Option
5
6 Pulse signal etc.Limit signals
CN2
CN1
CN3
1
2
3
4
Drives for Linear Motor Stages
① Motor Cable② Encoder Cable③ RS-232 Cable④ Regen Resistor⑤ Controller Pulse Cable⑥ Limit Switch Cable
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5V@400mA
+
-
Fromencoderinput
SG2
3
+3.3Vdc
+5V
9
8
7
6
5
4 A
Z
/Z
20 SG
121
Case Ground
L LI ON AE D
L2(Neut)
L1(Line)
1ψ47-63Hz100-240VAC
PCI4P-TB
Fuse
4.99K
10K
+24Vdc
RTN
3
1
Fuses
L3
REG+
REG-
3
LineFitter
4
3
2
1
L2
L1
1
2
+V Bus
-V Bus
+5Vdc
V
W
U
TXD
SG
RXD
5
4
3
2
SG
15
14
CN3
I5
SG
4
3
2
U
V
W
CN1
To PC RS-232 port
CN2
27 ST0+
28 ST0-
29 DR0+
30 DR0-
15 EA0+
16 EA0-
17
18 EB0-
EB0+
19
20 EZ0-
EZ0+
I9 10
8
11
9
16
17
18
19
20
21
1
I9M
I10
I10M
A
/A
/Z
/B
Z
B
FG 4
5
6
12
13
14A+
0 V
7
2Innershield
Case Ground
Caseground
CN3
A-
B+
B-
Z+
Z-
+5Vdc
845
845
1
10
1
3
13
12
11
+5V
HC
HB
HA
SG
FG
/A
B
/B
1 FGOutershield
15
5
9-
3-OUT
3-L
8
7
6
2-OUT
2-L
1-OUT
1-L
+ 1
3
2
4
CN1*
Eg. NPN(open collector)sensor power +5~+24Vdc
50V
Vcc
Hall C
Hall B
Hall A 2
4
3
1
Outershield
CN4
Case Ground
+5Vdc
10K10K
5V@400mA
RS422
CN2
1 N/C
N/C6
+24Vdc Power Supply(Required) At least 500mA
Earth Ground
Do not exceed1m
Regen Resistor
* Axis 0 is shown in this example** In case of user's PLC or motion controller the pin numbers would be different.
Typical circuit Typical circuit
Typical circuit
mega-fabs D1 Servo Amplifier
Pos. Limit
Neg. Limit
Digital Encoder
Digital Hall(Optional)
Over temperatureswitch
Linear Motor Stage
Wiring example
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CN2
CN1
CN3
MotionController
DC24V
Drive
PC
CN1
CN2
Main Power
Option
Pulse signal etc.5
1
2
3
4
Drives for Rotary Tables
• Digital amplifier• Field oriented control• Intuitive Lightening interface• 100-240VAC input power• Supports Step/Direction, CW/CCW and A/B phase pulse format• Supports +/- 10V voltage command• Supports analog and digital encoder
① Motor Cable② Encoder Cable③ RS-232 Cable④ Regen Resistor⑤ Controller Pulse Cable
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5V@400mA
+
-
Fromencoderinput
SG2
3
+5Vdc
+5V
9
8
19
18
17
16 sin+
Z
/Z
121
Case Ground
+24Vdc Power Supply(Required) At least 500mA
L LI ON AE D
L2(Neut)
L1(Line)
1ψ47-63Hz100-240VAC
PCI4P-TB
Fuse
4.99K
10K
+24Vdc
RTN
3
1
Fuses
L3
REG+
REG-
3
CN2
LineFitter
4
3
2
1
L2
L1
1
2
mega-fabs D1 Servo Amplifier
+5Vdc
V
W
U
TXD
SG
RXD
5
4
3
2
SG
15
14
CN3
I5
SG
4
3
2
U
V
W
CN1To PC RS-232 port
CN1
27 ST0+
28 ST0-
29 DR0+
30 DR0-
15 EA0+
16 EA0-
17
18 EB0-
EB0+
19
20 EZ0-
EZ0+
I9 10
8
11
9
16
17
18
19
20
21
1
I9M
I10
I10M
A
/A
/Z
/B
Z
B
FG
1
2
3
8
9
10U1+
0 V
4,5
6
shield Case Ground
Caseground
CN2AnalogEncoderU1-
U2+
U2-
U0+
U0-
+5Vdc
845
845
1
sin-
cos+
cos-
1 FG
OT-
OT+ 11
12
RS422
-V Bus
+V Bus
6
1
N/C
N/C
Earth Ground
Do not exceed1m
Regen Resistor
* Axis 0 is shown in this example** In case of user's PLC or motion controller the pin numbers would be different.
Typical circuit
Typical circuit
Torque Motor Rotary Table
Wiring example
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Item Part Number Description
Communication cable
RS232 communication cable LMACR21D 2m long, RJ11 connector at driver end
Connector Kit
Connector Kit (without CN3 connector)
D1-CK1Incl. connectors for CN2, regenerative resistor, 24V control power and AC power
Connector Kit (with CN3 connector)
D1-CK2Incl. connectors for CN2, CN3, regenerative resistor, 24V control power and AC power
EMC Kit
EMC Kit (single phase) D1-EMC1 Single-phase filter FN2090-10-06 and ferrite cores
EMC Kit (3 phase) D1-EMC2 Three phase filter FN3258-7-45 and ferrite cores
EMC Kit (3 phase) D1-EMC3Three phase filter FN3258-7-45(low leakage current) and ferrite cores
Regenerative resistors
Regenerative resistors 050100700001 Rated Power-100W, peak power-500W
Heat sink
External heat sink D1-H1 Standard
External heat sink D1-H2 Low profile
Control cable
Control signal cable LMACK30R
3m long, for connection to host controller. The signalcable has free leads at the controller side, so solderingcan easily be done for connection with the host controllerconnector.
Control signal cable LMACK□□A For connection to ACS SPiiPlus SA controller
D1 Drive Accessories
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EMC Kit
Three phase filter(D1-EMC2)
Single phase filter(D1-EMC1)
Three phase filter(D1-EMC3)
Ferrite core
160
M5
4.5
180
20
1190
10.6
(Unit:mm)D1-DNE01A
(Unit:mm)D1-DNE04A
M4
78
1.5
140
50
4.3x5.5
150
32
31.5
14
31
32.5
(Unit:mm)D1-DNE02A
160
M5
4.5
180
20
1190
10.6
(Unit:mm)D1-DNE01A
(Unit:mm)D1-DNE04A
M4
78
1.5
140
50
4.3x5.5
150
32
31.5
14
31
32.5
(Unit:mm)D1-DNE02A
160
M5
4.5
180
20
1190
10.6
(Unit:mm)D1-DNE01A
(Unit:mm)D1-DNE04A
M4
78
1.5
140
50
4.3x5.5
150
32
31.5
14
31
32.5
(Unit:mm)D1-DNE02A
160
M5
4.5
180
20
1190
10.6
(Unit:mm)D1-DNE01A
(Unit:mm)D1-DNE04A
M4
78
1.5
140
50
4.3x5.5
150
32
31.5
14
31
32.5
(Unit:mm)D1-DNE02A
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Regenerative resistors
Heat sink
Regenerative resistors(050100700001)
External heat sink(D1-H1)
External heat sink(D1-H2)
165150
5.3
500
20
40
(Unit:mm)D1-DNE03A
165150
5.3
500
20
40
(Unit:mm)D1-DNE03A
165150
5.3
500
20
40
(Unit:mm)D1-DNE03A
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The specifications in this catalog are subject to change without notification.
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